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Active asteroids are those that show evidence of ongoing mass loss. We report repeated instances of particle ejection from the surface of (101955) Bennu, demonstrating that it is an active asteroid. The ejection events were imaged by the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) spacecraft. For the three largest observed events, we estimated the ejected particle velocities and sizes, event times, source regions, and energies. We also determined the trajectories and photometric properties of several gravitationally bound particles that orbited temporarily in the Bennu environment. We consider multiple hypotheses for the mechanisms that lead to particle ejection for the largest events, including rotational disruption, electrostatic lofting, ice sublimation, phyllosilicate dehydration, meteoroid impacts, thermal stress fracturing, and secondary impacts.

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 small, Earth-crossing asteroid (101955) Bennu in late 2018, and ultimately return a sample of regolith to Earth. Approximately 3 months before the encounter with Bennu, the asteroid finally becomes detectable in the narrow field PolyCam imager. The spacecraft's rendezvous with Bennu begins with a series of four Asteroid Approach Maneuvers, which slow the spacecraft's speed relative to Bennu beginning two and a half months prior to closest approach, ultimately delivering the spacecraft to a point 18 km from Bennu on Nov 18, 2018. An extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site will follow. This paper will discuss the challenges of navigating near a small 500-m diameter asteroid. The navigation at close proximity is dependent on the accurate mathematical model or digital terrain map of the asteroids shape. Predictions of the spacecraft state are very sensitive to spacecraft small forces, solar radiation pressure, and mis-modeling of Bennu's gravity field. Uncertainties in the physical parameters of the central body Bennu create additional challenges. The navigation errors are discussed and their impact on science planning will be presented.

On February 29, 2012 the twin NASA Gravity Recovery And Interior Laboratory (GRAIL) spacecraft, Ebb and flow, achieved precise synchronized formation for collecting highly sensitive lunar gravity data. This was accomplished after performing a total of 27 propulsive maneuvers between the two spacecraft (13 on Ebb, 14 on Flow) over six months. Each 300 kg GRAIL spacecraft independently flew a 3.8-month, low-energy trajectory to reach the Moon after separation from the launch vehicle on September 10, 2011. The space craft were captured into 11.5 hr co- planar polar orbits after performing Lunar Orbit Insertion (LOI) maneuvers on New Years Eve (Dec 31, 2011) and New Years Day (Jan 1, 2012), respectively for Ebb, and Flow. Once captured, each spacecraft performed clusters of period reduction maneuvers to bring their orbit periods down to just less than 2 hrs. Finally, the orbiters we replaced into science formation by performing five strategic maneuvers (2 on Ebb, 3 on Flow). These maneuvers ensured 3 months of orbit life time with mean altitudes of 55 km and separations of 82-217 km by targeting the orbits' eccentricity vectors to specific locations. This paper will discuss the navigation strategy and performance of the twin GRAIL spacecraft from the September 10, 2011 launch through the end of the Prime Mission Science Phase in June 2012.

After the forty-fifth flyby of Titan, the Cassini spacecraft has successfully completed the planned four-year prime mission tour of the Saturnian system. This paper reports on the orbit determination performance of the Cassini spacecraft over two years spanning 2006 - 2008. In this time span, Cassini's orbit progressed through the magnetotail and pi-transfer phases of the mission. Thirty-four accurate close encounters of Titan, one close flyby of Iapetus and one 50 km flyby of Enceladus were performed during this period. The Iapetus and Enceladus flybys were especially challenging and so the orbit determination supporting these encounters will be discussed in more detail. This paper will show that in most cases orbit determination has exceeded the navigation requirements for targeting flybys and predicting science instrument pointing during these encounters.

The launch of the Cassini/Huygens mission on October 15, 1997, began a seven year journey across the solar system that culminated in the entry of the spacecraft into Saturnian orbit on June 30, 2004. Cassini/Huygens Spacecraft Navigation is the result of a complex interplay between several teams within the Cassini Project, performed on the Ground Data System. The work of Spacecraft Navigation involves rigorous requirements for accuracy and completeness carried out often under uncompromising critical time pressures. To support the Navigation function, a fault-tolerant, high-reliability/high-availability computational environment was necessary to support data processing. Configuration Management (CM) was integrated with fault tolerant design and security engineering, according to the cornerstone principles of Confidentiality, Integrity, and Availability. Integrated with this approach are security benchmarks and validation to meet strict confidence levels. In addition, similar approaches to CM were applied in consideration of the staffing and training of the system administration team supporting this effort. As a result, the current configuration of this computational environment incorporates a secure, modular system, that provides for almost no downtime during tour operations.

On April 16, 2005, the Cassini spacecraft performed its lowest altitude flyby of Titan to date, the Titan-5 flyby, flying 1027 km above the surface of Titan. This document discusses the development of a Titan atmospheric drag model for the purpose of the orbit determination of Cassini. Results will be presented for the Titan A flyby, the Titan-5 flyby as well as the most recent low altitude Titan flyby, Titan-7. Different solutions will be compared against OD performance in terms of the flyby B-plane parameters, spacecraft thrusting activity and drag estimates. These low altitude Titan flybys were an excellent opportunity to observe the effect of Titan's atmospheric drag on the orbit determination solution and results show that the drag was successfully modeled to provide accurate flyby solutions.

From June 2004 through July 2005, the Cassini/Huygens spacecraft has executed nine successful close-targeted encounters by three major satellites of the Saturnian system. Current results show that orbit determination has met design requirements for targeting encounters, Hugens descent, and predicting science instrument pointing for targetd satellite encounters. This paper compares actual target dispersion against, the predicte tour covariance analyses.

The 2001 Mars Odyssey Mission has returned an Orbiter to Mars to map the planet and search for water. This paper will present an overview of the Navigation performance, with a comparison of the pre-launch requirements and expected performance to the in-flight experience.

This paper describes the navigation strategy and results for the rendezvous and orbit phases of the NEAR mission.

This paper discusses the design, execution, and results of NEAR's low altitude operations at Eros.

This paper describes the navigation strategy and results for the rendezvous and orbit phases of the NEAR mission.

This paper discusses the design, navigation and the Monte Carlo error analyses that were critical to the design of this landing scenario. Also described is the reconstruction of the landing trajectory using radio metric, optical landmark and laser ranging tracking data, which determined the characteristics of the landing to be well within the error analyses.

NASA's Near Earth Asteroid Rendezvous Mission began its record-setting exploration of the asteroid 433 Eros by inserting the spacecraft into orbit about Eros on February 14, 2000. This is the first spacecraft from any country to orbit an asteroid. The mission has overcome a failed insertion burn attempt on December 20, 1998, an event that would have ended most planetary missions, to return to the same target and successfully begin its science mapping a little more than a year later. Shortly after the successful insertion into orbit, the mission was renamed NEAR Shoemaker (NEAR) in memory of the late astronomer and geologist Eugene Shoemaker. NEAR will gather science data at Eros until February 14, 2001, which is the nominal end of mission. The NEAR mission is managed by the Johns Hopkins University, Applied Physics Laboratory in Laurel, Maryland. Since the initial mission concept in 1992, the design and implementation of the NEAR navigation system have been the responsibility of the Jet Propulsion Laboratory, California Institute of Technology. This presentation will show some of the unique features of navigation and mission design related to orbiting an asteroid and to designing a robust navigation system for the NEAR spacecraft. The problem of navigating a spacecraft about an asteroid is made difficult by the relative uncertainty in the asteroid physical properties which perturb the orbit: i.e., the mass, gravity field, and spin state. To help solve this problem, the navigation system for NEAR uses traditional DSN radio metric Doppler and range tracking, along with new technologies of optical landmark tracking and laser ranging to the asteroid surface. The experiences to date for each of these data types in the navigation solutions will be presented. Plans for the remainder of the NEAR mission will be presented, which include low orbits (down to 35 km radius circular orbits), and close flybys that may pass within 1 km of the surface. In addition, at the end of mission, NASA has approved a controlled descent and hovering phase that will culminate with the spacecraft impacting the surface. The maneuver planning for this final phase will also be presented.

Trajectory design of the orbit phase of the NEAR mission involves a new process that departs significantly from those procedures used in previous missions. In most cases, a precise spacecraft ephemeris is designed well in advance of arrival at the target body. For NEAR, the uncertainty in the dynamic environment around Eros does not allow the luxury of a precise spacecraft trajectory to be defined in advance. The principal cause of this uncertainty is the limited knowledge oi' the gravity field a,-id rotational state of Eros. As a result, the concept for the NEAR trajectory design is to define a number of rules for satisfying spacecraft, mission, and science constraints, and then apply these rules to various assumptions for the model of Eros. Nominal, high, and low Eros mass models are used for testing the trajectory design strategy and to bracket the ranges of parameter variations that are expected upon arrival at the asteroid. The final design is completed after arrival at Eros and determination of the actual gravity field and rotational state. As a result of the unplanned termination of the deep space rendezvous maneuver on December 20, 1998, the NEAR spacecraft passed within 3830 km of Eros on December 23, 1998. This flyby provided a brief glimpse of Eros, and allowed for a more accurate model of the rotational parameters and gravity field uncertainty. Furthermore, after the termination of the deep space rendezvous burn, contact with the spacecraft was lost and the NEAR spacecraft lost attitude control. During the subsequent gyrations of the spacecraft, hydrazine thruster firings were used to regain attitude control. This unplanned thruster activity used Much of the fuel margin allocated for the orbit phase. Consequently, minimizing fuel consumption is now even more important.

On February 14, 2000, an orbit insertion burn will place NASA's Near Earth Asteroid Rendezvous (NEAR) spacecraft (S/C) into orbit around asteroid 433 Eros. NEAR will initially orbit Eros with distances ranging from 500 to 100 km in order to characterize the shape, gravity and spin of Eros. Once the physical parameters of Eros are determined reasonably well, the plan is to establish an orbit of the NEAR S/C with increasingly lower altitudes as the one year orbital mission progresses while further characterizing the gravity and shape of Eros. Towards the end of the NEAR mission, after the shape, gravity and spin of Eros have been well characterized, the scientific interest of obtaining very close observations (< 5 km) can be realized. The navigation during this phase relies on a combination of NASA's Deep Space Network (DSN) radio metric tracking, laser ranging (LIDAR) data from the S/C to the surface of Eros, and onboard optical imaging of landmarks on Eros. This paper will provide preliminary plans for mission design and navigation during the last two months of the orbit phase, where several close passes to the surface will be incorporated to enhance the science return. The culmination of these close passes will result in the eventual landing of the S/C on the surface of Eros. Several considerations for these plans are given by Antreasian, et at. [1998]. The objective for the end of the mission will be to land the S/C autonomously using the surface relative information obtained from the onboard LIDAR instrument. The goal will be to soft land the S/C in such a way as to keep it operational. With the use of an onboard LIDAR landing algorithm as discussed by Antreasian et at. [1998], it is believed that the S/C impact velocity can be kept well under 7 m/s which is a requirement for allowing the S/C to remain operational.

Unexpected energy increases during Earth flybys of both the Galileo and Near Earth Asteroid Rendzvous (NEAR) spacecraft have drawn evidence of spacecraft trajectory modeling errors, an unknown perturbing force or failure of Newtonian gravity.

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This paper summarizes Galileo's orbit determination activities leading up to its encounter with asteroid 243-Ida on August 28, 1993. In addition to the nominal 2-way S-band range and Doppler radio metric data obtained from the Deep Space Network (DSN), several navigational aids were brought together to make this encounter successful.

As the time of the Ida encounter by Galileo approached, some unfortunate circumstances occurred, causing a very worrisome but exciting encounter, especially with regards to navigation. This paper reports on Galileo's orbit determination stratagy during the period after the last Earth encounter through the Ida flyby. Details in the modeling of Galileo's orbit, and in the use of various navigation tools, will be explained and the results of several key orbit solutions will be given.

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Geodetic satellites such as GEOSAT, SPOT, ERS-1, and TOPEX/Poseidon require accurate orbital computations to support the scientific data they collect. Until recently, gravity field mismodeling was the major source of error in precise orbit definition. However, albedo and infrared re-radiation, and spacecraft thermal imbalances produce in combination no more than a 6-cm radial root-mean-square (RMS) error over a 10-day period. This requires the development of nonconservative force models that take the satellite's complex geometry, attitude, and surface properties into account. For TOPEX/Poseidon, a 'box-wing' satellite form was investigated that models the satellite as a combination of flat plates arranged in a box shape with a connected solar array. The nonconservative forces acting on each of the eight surfaces are computed independently, yielding vector accelerations which are summed to compute the total aggregate effect on the satellite center-of-mass. In order to test the validity of this concept, 'micro-models' based on finite element analysis of TOPEX/Poseidon were used to generate acceleration histories in a wide variety of orbit orientations. These profiles are then compared to the box-wing model. The results of these simulations and their implication on the ability to precisely model the TOPEX/Poseidon orbit are discussed.

Models of the TOPEX/Poseidon spacecraft are developed by means of finite-element analyses for use in generating acceleration histories for various orbit orientations which account for nonconservative radiation forces. The acceleration profiles are developed with an analysis based on the use of the 'box-wing' model in which the satellite is modeled as a combination of flat plates. The models account for the effects of solar, earth-albedo, earth-IR, and spacecraft-thermal radiation. The finite-element analysis gives the total force and induced accelerations acting on the satellite. The plate types used in the analysis have parameters that can be adjusted to optimize model performance according to the micromodel analysis and tracking observations. Acceleration related to solar radiation pressure is modeled effectively, and the techniques are shown to be useful for the precise orbit determinations required for spacecraft such as the TOPEX/Poseidon.

An essential element of any satellite system that will be used to recover information about high degree and order terms in the geopotential model of the earth is one or more low altitude (about 160 km) satellites equipped with a drag compensation mechanism. To study the effects of various error sources and to test the new theoretical and numerical techniques that will be developed for such a mission, two simulated scenarios have been used with a geopotential model complete to degree and order 360 and Encke's method to numerically integrate the equations of motion. The two scenarios include the low-low dual satellite system with integrated, one-way Doppler measurements and the single satellite system with gradiometer measurements. The simulations include a reference orbit which is assumed to be available from conventional tracking systems.